hlrc / client / python / simple-robot-gaze.py @ 1c05bf39
History | View | Annotate | Download (8.819 KB)
1 |
__author__ = 'fl@techfak'
|
---|---|
2 |
|
3 |
# STD IMPORTS
|
4 |
import sys |
5 |
import time |
6 |
import signal |
7 |
import logging |
8 |
import operator |
9 |
|
10 |
# HLRC
|
11 |
from hlrc_client import * |
12 |
|
13 |
# ROS IMPORTS
|
14 |
import rospy |
15 |
import roslib |
16 |
from std_msgs.msg import Header |
17 |
from std_msgs.msg import String |
18 |
from people_msgs.msg import Person |
19 |
from people_msgs.msg import People |
20 |
|
21 |
|
22 |
class RobotDriver(): |
23 |
"""
|
24 |
This class holds the robot controller.
|
25 |
Provides better encapsulation though...
|
26 |
"""
|
27 |
def __init__(self, _mw, _outscope): |
28 |
print(">>> Initializing Robot Controller")
|
29 |
self.mw = _mw
|
30 |
self.outscope = _outscope
|
31 |
self.robot_controller = RobotController(self.mw, self.outscope, logging.INFO) |
32 |
|
33 |
|
34 |
class GazeController(): |
35 |
"""
|
36 |
The GazeController receives person messages (ROS) and derives
|
37 |
the nearest person identified. Based on this, the robot's
|
38 |
joint angle target's are derived using the transformation
|
39 |
class below
|
40 |
"""
|
41 |
def __init__(self, _robot_controller, _affine_transform, _inscope): |
42 |
print(">>> Initializing Gaze Controller")
|
43 |
self.run = True |
44 |
self.inscope = _inscope
|
45 |
self.rc = _robot_controller
|
46 |
self.at = _affine_transform
|
47 |
self.nearest_person_x = 0.0 |
48 |
self.nearest_person_y = 0.0 |
49 |
signal.signal(signal.SIGINT, self.signal_handler)
|
50 |
|
51 |
def signal_handler(self, signal, frame): |
52 |
print ">>> ROS is about to exit (signal %s)..." % str(signal) |
53 |
self.run = False |
54 |
|
55 |
def people_callback(self, ros_data): |
56 |
# Determine the nearest person
|
57 |
idx = -1
|
58 |
max_distance = {} |
59 |
for person in ros_data.people: |
60 |
idx += 1
|
61 |
max_distance[str(idx)] = person.position.z
|
62 |
print ">> Persons found {idx, distance}: ", max_distance |
63 |
sort = sorted(max_distance.items(), key=operator.itemgetter(1), reverse=True) |
64 |
print ">> Nearest Face: ", sort |
65 |
print ">> Index: ", sort[0][0] |
66 |
print ">> Distance in pixels: ", sort[0][1] |
67 |
self.nearest_person_x = ros_data.people[int(sort[0][0])].position.x |
68 |
self.nearest_person_y = ros_data.people[int(sort[0][0])].position.y |
69 |
print ">> Position in pixels x:", self.nearest_person_x |
70 |
print ">> Position in pixels y:", self.nearest_person_y |
71 |
point = [self.nearest_person_x, self.nearest_person_y] |
72 |
# Derive coordinate mapping
|
73 |
angles = self.at.derive_mapping_coords(point)
|
74 |
print "----------------" |
75 |
if angles is not None: |
76 |
# Set the robot gaze
|
77 |
g = RobotGaze() |
78 |
g.gaze_type = RobotGaze.GAZETARGET_ABSOLUTE |
79 |
g.pan = angles[0]
|
80 |
g.tilt = angles[1]
|
81 |
print ">> Sending Gaze Type:", g |
82 |
self.rc.robot_controller.set_gaze_target(g, False) |
83 |
|
84 |
def run_subscriber(self): |
85 |
print(">>> Initializing Gaze Subscriber")
|
86 |
person_subscriber = rospy.Subscriber(self.inscope, People, self.people_callback, queue_size=1) |
87 |
while self.run: |
88 |
time.sleep(1)
|
89 |
person_subscriber.unregister() |
90 |
print ">>> Deactivating ROS Subscriber" |
91 |
|
92 |
def derive_gaze_angle(self): |
93 |
pass
|
94 |
|
95 |
|
96 |
class AffineTransform: |
97 |
"""
|
98 |
Derives the transformation between screen
|
99 |
coordinates in pixels and joint axis angles in degree.
|
100 |
"""
|
101 |
def __init__(self): |
102 |
print(">>> Initializing Affine Transform")
|
103 |
# Target ---> The ones you want to map to
|
104 |
self.target0 = [1.0, 1.0] |
105 |
self.target1 = [1.0, 1.0] |
106 |
self.target2 = [1.0, 1.0] |
107 |
self.target3 = [1.0, 1.0] |
108 |
|
109 |
# Origin ---> The ones that are mapped to [target0, target1, target2, target3]
|
110 |
self.origin0 = [1.0, 1.0] |
111 |
self.origin1 = [1.0, 1.0] |
112 |
self.origin2 = [1.0, 1.0] |
113 |
self.origin3 = [1.0, 1.0] |
114 |
|
115 |
# Divider
|
116 |
self.divider = 1.0 |
117 |
|
118 |
# Calculated and mapped Coordinates
|
119 |
mappedCoords = [1.0, 1.0] |
120 |
|
121 |
# Affine transformation coefficients
|
122 |
self.An = 1.0 |
123 |
self.Bn = 1.0 |
124 |
self.Cn = 1.0 |
125 |
self.Dn = 1.0 |
126 |
self.En = 1.0 |
127 |
self.Fn = 1.0 |
128 |
|
129 |
# Test coord
|
130 |
self.test = [1.0, 1.0] |
131 |
|
132 |
def set_coords(self): |
133 |
|
134 |
# This is the target coordinate system
|
135 |
# Upper left corner
|
136 |
self.target0[0] = -45.0 |
137 |
self.target0[1] = 45.0 |
138 |
|
139 |
# Lower left corner
|
140 |
self.target1[0] = -45.0 |
141 |
self.target1[1] = -45.0 |
142 |
|
143 |
# Upper right corner
|
144 |
self.target2[0] = 45.0 |
145 |
self.target2[1] = 45.0 |
146 |
|
147 |
# Lower right corner
|
148 |
self.target3[0] = 45.0 |
149 |
self.target3[1] = -45.0 |
150 |
|
151 |
# This is the origin system, is mapped to [t0,t1,t2,t3]
|
152 |
# Upper left corner
|
153 |
self.origin0[0] = 0.0 |
154 |
self.origin0[1] = 0.0 |
155 |
|
156 |
# Lower left corner
|
157 |
self.origin1[0] = 0.0 |
158 |
self.origin1[1] = 240.0 |
159 |
|
160 |
# Upper right corner
|
161 |
self.origin2[0] = 320.0 |
162 |
self.origin2[1] = 0.0 |
163 |
|
164 |
# Lower right corner
|
165 |
self.origin3[0] = 320.0 |
166 |
self.origin3[1] = 240.0 |
167 |
|
168 |
# And finally the test coordinate
|
169 |
self.test[0] = 512.0 |
170 |
self.test[1] = 384.0 |
171 |
|
172 |
def calculate_divider(self): |
173 |
result = ((self.origin0[0] - self.origin2[0]) * (self.origin1[1] - self.origin2[1])) - \ |
174 |
((self.origin1[0] - self.origin2[0]) * (self.origin0[1] - self.origin2[1])) |
175 |
|
176 |
if result == 0.0: |
177 |
print(">> Divider is ZERO - Check your Coordinates?")
|
178 |
sys.exit(1)
|
179 |
else:
|
180 |
self.divider = result
|
181 |
print(">> Divider " + str(self.divider)) |
182 |
self.calculateAn()
|
183 |
self.calculateBn()
|
184 |
self.calculateCn()
|
185 |
self.calculateDn()
|
186 |
self.calculateEn()
|
187 |
self.calculateFn()
|
188 |
|
189 |
return result
|
190 |
|
191 |
def calculateAn(self): |
192 |
result = ((self.target0[0] - self.target2[0]) * (self.origin1[1] - self.origin2[1])) - \ |
193 |
((self.target1[0] - self.target2[0]) * (self.origin0[1] - self.origin2[1])) |
194 |
self.An = result
|
195 |
print(">> An " + str(self.An)) |
196 |
return result
|
197 |
|
198 |
def calculateBn(self): |
199 |
result = ((self.origin0[0] - self.origin2[0]) * (self.target1[0] - self.target2[0])) - \ |
200 |
((self.target0[0] - self.target2[0]) * (self.origin1[0] - self.origin2[0])) |
201 |
self.Bn = result
|
202 |
print(">> Bn " + str(self.Bn)) |
203 |
return result
|
204 |
|
205 |
def calculateCn(self): |
206 |
result = (self.origin2[0] * self.target1[0] - self.origin1[0] * self.target2[0]) * self.origin0[1] + \ |
207 |
(self.origin0[0] * self.target2[0] - self.origin2[0] * self.target0[0]) * self.origin1[1] + \ |
208 |
(self.origin1[0] * self.target0[0] - self.origin0[0] * self.target1[0]) * self.origin2[1] |
209 |
self.Cn = result
|
210 |
print(">> Cn " + str(self.Cn)) |
211 |
return result
|
212 |
|
213 |
def calculateDn(self): |
214 |
result = ((self.target0[1] - self.target2[1]) * (self.origin1[1] - self.origin2[1])) - \ |
215 |
((self.target1[1] - self.target2[1]) * (self.origin0[1] - self.origin2[1])) |
216 |
self.Dn = result
|
217 |
print(">> Dn " + str(self.Dn)) |
218 |
return result
|
219 |
|
220 |
def calculateEn(self): |
221 |
result = ((self.origin0[0] - self.origin2[0]) * (self.target1[1] - self.target2[1])) - \ |
222 |
((self.target0[1] - self.target2[1]) * (self.origin1[0] - self.origin2[0])) |
223 |
self.En = result
|
224 |
print(">> En " + str(self.En)) |
225 |
return result
|
226 |
|
227 |
def calculateFn(self): |
228 |
result = (self.origin2[0] * self.target1[1] - self.origin1[0] * self.target2[1]) * self.origin0[1] + \ |
229 |
(self.origin0[0] * self.target2[1] - self.origin2[0] * self.target0[1]) * self.origin1[1] + \ |
230 |
(self.origin1[0] * self.target0[1] - self.origin0[0] * self.target1[1]) * self.origin2[1] |
231 |
self.Fn = result
|
232 |
print(">> Fn " + str(self.Fn)) |
233 |
return result
|
234 |
|
235 |
def derive_mapping_coords(self, point): |
236 |
# r->x = ((matrixPtr->An * ad->x) + (matrixPtr->Bn * ad->y) + matrixPtr->Cn) / matrixPtr->Divider
|
237 |
# r->y = ((matrixPtr->Dn * ad->x) + (matrixPtr->En * ad->y) + matrixPtr->Fn) / matrixPtr->Divider
|
238 |
if self.divider != 0.0: |
239 |
x = ((self.An * point[0]) + (self.Bn * point[1]) + self.Cn) / self.divider |
240 |
y = ((self.Dn * point[0]) + (self.En * point[1]) + self.Fn) / self.divider |
241 |
result = [x, y] |
242 |
# print ">> Current Coordinate (Face):", point
|
243 |
print ">> x-pixels were mapped to angle: %s \n>> y-pixels were mapped to angle: %s" % (str(x), str(y)) |
244 |
return result
|
245 |
else:
|
246 |
return None |
247 |
|
248 |
|
249 |
def runner(arguments): |
250 |
if len(arguments) != 3: |
251 |
print(">>> Usage: simple-robot-gaze.py <inscope 'persons_scope'> <outscope 'gaze_target_scope'>\n\n")
|
252 |
sys.exit(1)
|
253 |
|
254 |
rd = RobotDriver("ROS", sys.argv[2]) |
255 |
at = AffineTransform() |
256 |
at.set_coords() |
257 |
at.calculate_divider() |
258 |
gc = GazeController(rd, at, sys.argv[1])
|
259 |
gc.run_subscriber() |
260 |
|
261 |
if __name__ == '__main__': |
262 |
runner(sys.argv) |
263 |
|